diff --git a/motorApp/AcsSrc/drvMCB4B.cc b/motorApp/AcsSrc/drvMCB4B.cc
index c35382c6..01ec75c6 100644
--- a/motorApp/AcsSrc/drvMCB4B.cc
+++ b/motorApp/AcsSrc/drvMCB4B.cc
@@ -183,9 +183,11 @@ STATIC int set_status(int card, int signal)
     long motorData;
     char buff[BUFF_SIZE];
     bool ls_active = false;
+    msta_field status;
 
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     /* Request the moving status of this motor */
     sprintf(command, "#%02dX", signal);
@@ -193,34 +195,31 @@ STATIC int set_status(int card, int signal)
     recv_mess(card, response, WAIT);
     /* The response string is of the form "#01X=1" */
 
-    if (response[5] == '1')
-        motor_info->status &= ~RA_DONE;
-    else {
-        motor_info->status |= RA_DONE;
-    }
+    status.Bits.RA_DONE = (response[5] == '1') ? 0 : 1;
 
     /* Request the limit status of this motor */
     sprintf(command, "#%02dE", signal);
     send_mess(card, command, 0);
     recv_mess(card, response, WAIT);
     /* The response string is of the form "#01E=1" */
-    motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
+    status.Bits.RA_PLUS_LS = 0;
+    status.Bits.RA_MINUS_LS = 0;
     if (response[5] == '1') {
-        motor_info->status |= RA_PLUS_LS;
-        motor_info->status |= RA_DIRECTION;
+	status.Bits.RA_PLUS_LS = 1;
+	status.Bits.RA_DIRECTION = 1;
 	ls_active = true;
     }
     if (response[6] == '1') {
-        motor_info->status |= RA_MINUS_LS;
-        motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_MINUS_LS = 1;
+	status.Bits.RA_DIRECTION = 0;
 	ls_active = true;
     }
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_POSITION;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP	      = 0;
+    status.Bits.EA_POSITION   = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME	      = 0;
 
     /* Request the position of this motor */
     sprintf(command, "#%02dP", signal);
@@ -233,10 +232,7 @@ STATIC int set_status(int card, int signal)
         motor_info->no_motion_count++;
     else
     {
-        if (motorData >= motor_info->position)
-            motor_info->status |= RA_DIRECTION;
-        else
-            motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
         motor_info->position = motorData;
         motor_info->encoder_position = motorData;
         motor_info->no_motion_count = 0;
@@ -247,14 +243,14 @@ STATIC int set_status(int card, int signal)
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
         motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
         strcpy(buff, nodeptr->postmsgptr);
@@ -265,6 +261,7 @@ STATIC int set_status(int card, int signal)
         nodeptr->postmsgptr = NULL;
     }
 
+    motor_info->status.All = status.All;
     return (rtn_state);
 }
 
@@ -499,7 +496,7 @@ STATIC int motor_init()
                 send_mess(card_index, buff, 0);     
                 recv_mess(card_index, buff, WAIT);    /* Throw away response */
                 strcpy(brdptr->ident, "MCB-4B");
-                motor_info->status = 0;
+                motor_info->status.All = 0;
                 motor_info->no_motion_count = 0;
                 motor_info->encoder_position = 0;
                 motor_info->position = 0;
diff --git a/motorApp/ImsSrc/drvIM483PL.cc b/motorApp/ImsSrc/drvIM483PL.cc
index 3317233a..d624f516 100644
--- a/motorApp/ImsSrc/drvIM483PL.cc
+++ b/motorApp/ImsSrc/drvIM483PL.cc
@@ -3,9 +3,9 @@ FILENAME...	drvIM483PL.cc
 USAGE...	Motor record driver level support for Intelligent Motion
 		Systems, Inc. IM483(I/IE).
 
-Version:	$Revision: 1.4 $
+Version:	$Revision: 1.5 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:26:59 $
+Last Modified:	$Date: 2003-12-12 21:39:28 $
 */
 
 /*****************************************************************
@@ -238,44 +238,44 @@ STATIC int set_status(int card, int signal)
     register struct mess_info *motor_info;
     /* Message parsing variables */
     char buff[BUFF_SIZE];
-    int status;
-    int rtn_state;
+    int rtnval, rtn_state;
     double motorData;
     bool plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     send_mess(card, "? ^", IM483PL_axis[signal]);
     rtn_state = recv_mess(card, buff, 1);
     if (rtn_state > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
-    status = atoi(&buff[4]);
+    rtnval = atoi(&buff[4]);
 
-    if (status != 0)
-	motor_info->status &= ~RA_DONE;
-    else
-	motor_info->status |= RA_DONE;
+    status.Bits.RA_DONE = (rtnval != 0) ? 0 : 1;
 
     /* 
      * Parse motor position
@@ -295,55 +295,49 @@ STATIC int set_status(int card, int signal)
 	epicsInt32 newposition;
 
 	newposition = NINT(motorData);
-	if (newposition >= motor_info->position)
-	    motor_info->status |= RA_DIRECTION;
-	else
-	    motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
 	motor_info->position = newposition;
 	motor_info->no_motion_count = 0;
     }
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
     send_mess(card, "? ] 0", IM483PL_axis[signal]);
     recv_mess(card, buff, 1);
-    status = atoi(&buff[5]);
+    rtnval = atoi(&buff[5]);
 
     /* Set limit switch error indicators. */
-    if (status & 1)
+    if (rtnval & 1)
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
 
-    if (status & 2)
+    if (rtnval & 2)
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
 
     send_mess(card, "? ] 1", IM483PL_axis[signal]);
     recv_mess(card, buff, 1);
-    status = buff[5];
+    rtnval = buff[5];
 
-    if (status & 0x01)
-	motor_info->status |= RA_HOME;
-    else
-	motor_info->status &= ~RA_HOME;
+    status.Bits.RA_HOME = (rtnval & 0x01) ? 1 : 0;
 
     /* !!! Assume no closed-looped control!!!*/
-    motor_info->status &= ~EA_POSITION;
+    status.Bits.EA_POSITION = 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP	      = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME	      = 0;
 
     if (motor_state[card]->motor_info[signal].encoder_present == NO)
 	motor_info->encoder_position = 0;
@@ -355,21 +349,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->encoder_position = (int32_t) motorData;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM	= 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-     (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(buff, nodeptr->postmsgptr);
@@ -377,6 +371,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -586,21 +582,21 @@ STATIC int motor_init()
 		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 		int loop_state;
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
 		brdptr->motor_info[motor_index].motor_motion = NULL;
 		/* Assume encoder support, i.e., IM483IE. */
 		motor_info->encoder_present = YES;
-		motor_info->status |= EA_PRESENT;
+		motor_info->status.Bits.EA_PRESENT = 1;
 
                 /* Determine if encoder present based on open/closed loop mode. */
 		loop_state = 0;
 		if (loop_state != 0)
 		{
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
 		set_status(card_index, motor_index);  /* Read status of each motor */
diff --git a/motorApp/ImsSrc/drvIM483SM.cc b/motorApp/ImsSrc/drvIM483SM.cc
index 439937bb..a7a8c439 100644
--- a/motorApp/ImsSrc/drvIM483SM.cc
+++ b/motorApp/ImsSrc/drvIM483SM.cc
@@ -3,9 +3,9 @@ FILENAME...	drvIM483SM.cc
 USAGE...	Motor record driver level support for Intelligent Motion
 		Systems, Inc. IM483(I/IE).
 
-Version:	$Revision: 1.5 $
+Version:	$Revision: 1.6 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:27:00 $
+Last Modified:	$Date: 2003-12-12 21:39:30 $
 */
  
 /*****************************************************************
@@ -237,44 +237,44 @@ STATIC int set_status(int card, int signal)
     register struct mess_info *motor_info;
     /* Message parsing variables */
     char buff[BUFF_SIZE];
-    int status;
-    int rtn_state;
+    int rtnval, rtn_state;
     double motorData;
     bool plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     send_mess(card, "^", (char) NULL);
     rtn_state = recv_mess(card, buff, 1);
     if (rtn_state > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
-    status = atoi(&buff[4]);
+    rtnval = atoi(&buff[4]);
 
-    if (status != 0)
-	motor_info->status &= ~RA_DONE;
-    else
-	motor_info->status |= RA_DONE;
+    status.Bits.RA_DONE = (rtnval != 0) ? 0 : 1;
 
     /* 
      * Parse motor position
@@ -294,55 +294,49 @@ STATIC int set_status(int card, int signal)
 	epicsInt32 newposition;
 
 	newposition = NINT(motorData);
-	if (newposition >= motor_info->position)
-	    motor_info->status |= RA_DIRECTION;
-	else
-	    motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
 	motor_info->position = newposition;
 	motor_info->no_motion_count = 0;
     }
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
     send_mess(card, "] 0", (char) NULL);
     recv_mess(card, buff, 1);
-    status = atoi(&buff[5]);
+    rtnval = atoi(&buff[5]);
 
     /* Set limit switch error indicators. */
-    if (status & 1)
+    if (rtnval & 1)
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
 
-    if (status & 2)
+    if (rtnval & 2)
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
 
     send_mess(card, "] 1", (char) NULL);
     recv_mess(card, buff, 1);
-    status = buff[5];
+    rtnval = buff[5];
 
-    if (status & 0x01)
-	motor_info->status |= RA_HOME;
-    else
-	motor_info->status &= ~RA_HOME;
+    status.Bits.RA_HOME = (rtnval & 0x01) ? 1 : 0;
 
     /* !!! Assume no closed-looped control!!!*/
-    motor_info->status &= ~EA_POSITION;
+    status.Bits.EA_POSITION = 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP	      = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME	      = 0;
 
     if (motor_state[card]->motor_info[signal].encoder_present == NO)
 	motor_info->encoder_position = 0;
@@ -354,21 +348,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->encoder_position = (int32_t) motorData;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM	= 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-     (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(buff, nodeptr->postmsgptr);
@@ -376,6 +370,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -633,7 +629,7 @@ STATIC int motor_init()
 		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 		int loop_state;
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
@@ -644,9 +640,9 @@ STATIC int motor_init()
 		if (loop_state != 0)
 		{
                     motor_info->encoder_present = YES;
-		    motor_info->status |= EA_PRESENT;
+		    motor_info->status.Bits.EA_PRESENT = 1;
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
 		set_status(card_index, motor_index);  /* Read status of each motor */
diff --git a/motorApp/ImsSrc/drvMDrive.cc b/motorApp/ImsSrc/drvMDrive.cc
index f244e67f..be49232a 100644
--- a/motorApp/ImsSrc/drvMDrive.cc
+++ b/motorApp/ImsSrc/drvMDrive.cc
@@ -3,9 +3,9 @@ FILENAME...	drvMDrive.cc
 USAGE...	Motor record driver level support for Intelligent Motion
 		Systems, Inc. IM483(I/IE).
 
-Version:	$Revision: 1.6 $
+Version:	$Revision: 1.7 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:26:59 $
+Last Modified:	$Date: 2003-12-12 21:39:31 $
 */
 
 /*
@@ -260,45 +260,45 @@ STATIC int set_status(int card, int signal)
     register struct mess_info *motor_info;
     /* Message parsing variables */
     char buff[BUFF_SIZE];
-    int status;
-    int rtn_state;
+    int rtnval, rtn_state;
     double motorData;
     SINPUTS inputs;
     bool plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     send_mess(card, "? PR MV", MDrive_axis[signal]);
     rtn_state = recv_mess(card, buff, 1);
     if (rtn_state > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(OK);
+	    rtn_state = OK;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
-    status = atoi(buff);
+    rtnval = atoi(buff);
 
-    if (status != 0)
-	motor_info->status &= ~RA_DONE;
-    else
-	motor_info->status |= RA_DONE;
+    status.Bits.RA_DONE = (rtnval != 0) ? 0 : 1;
 
     /* 
      * Parse motor position
@@ -318,15 +318,12 @@ STATIC int set_status(int card, int signal)
 	epicsInt32 newposition;
 
 	newposition = NINT(motorData);
-	if (newposition >= motor_info->position)
-	    motor_info->status |= RA_DIRECTION;
-	else
-	    motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
 	motor_info->position = newposition;
 	motor_info->no_motion_count = 0;
     }
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
     send_mess(card, "? PR IN", MDrive_axis[signal]);
     recv_mess(card, buff, 1);
@@ -335,35 +332,31 @@ STATIC int set_status(int card, int signal)
     /* Set limit switch error indicators. */
     if (inputs.Bits.ls_plus == 0)
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
 
     if (inputs.Bits.ls_minus == 0)
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
     else
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
 
-
-    if (inputs.Bits.homels == 0)
-	motor_info->status |= RA_HOME;
-    else
-	motor_info->status &= ~RA_HOME;
+    status.Bits.RA_HOME = (inputs.Bits.homels) ? 1 : 0;
 
     /* !!! Assume no closed-looped control!!!*/
-    motor_info->status &= ~EA_POSITION;
+    status.Bits.EA_POSITION = 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP	      = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME	      = 0;
 
     if (motor_state[card]->motor_info[signal].encoder_present == NO)
 	motor_info->encoder_position = 0;
@@ -375,21 +368,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->encoder_position = (int32_t) motorData;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM	= 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-     (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(buff, nodeptr->postmsgptr);
@@ -397,6 +390,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -621,7 +616,7 @@ STATIC int motor_init()
 		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 		int loop_state;
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
@@ -634,7 +629,7 @@ STATIC int motor_init()
 		if (loop_state != 0)
 		{
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
 		set_status(card_index, motor_index);  /* Read status of each motor */
diff --git a/motorApp/MclennanSrc/drvPM304.cc b/motorApp/MclennanSrc/drvPM304.cc
index bd0896a0..db6d1532 100644
--- a/motorApp/MclennanSrc/drvPM304.cc
+++ b/motorApp/MclennanSrc/drvPM304.cc
@@ -208,75 +208,72 @@ STATIC int set_status(int card, int signal)
     char buff[BUFF_SIZE];
     bool ls_active = false;
     struct PM304controller *cntrl;
+    msta_field status;
 
     cntrl = (struct PM304controller *) motor_state[card]->DevicePrivate;
 
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     /* Request the status of this motor */
     sprintf(command, "%dOS;", signal+1);
     send_recv_mess(card, command, response);
     Debug(2, "set_status, status query, card %d, response=%s\n", card, response);
 
+    status.Bits.RA_PLUS_LS = 0;
+    status.Bits.RA_MINUS_LS = 0;
+    
     if (cntrl->model == MODEL_PM304) {
         /* The response string is an eight character string of ones and zeroes */
 
         if (strcmp(response, "00000000") == 0)
-            motor_info->status &= ~RA_DONE;
+            status.Bits.RA_DONE = 0;
         else {
-            motor_info->status |= RA_DONE;
+            status.Bits.RA_DONE = 1;
             if (drvPM304ReadbackDelay != 0.)
                 epicsThreadSleep(drvPM304ReadbackDelay);
         }
 
-        if (response[2] == '1')
-            motor_info->status |= RA_PROBLEM;
-        else
-            motor_info->status &= ~RA_PROBLEM;
+	status.Bits.RA_PROBLEM = (response[2] == '1') ? 1 : 0;
 
-        motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
         if (response[1] == '1') {
-            motor_info->status |= RA_PLUS_LS;
-            motor_info->status |= RA_DIRECTION;
-	      ls_active = true;
+	    status.Bits.RA_PLUS_LS = 1;
+	    status.Bits.RA_DIRECTION = 1;
+	    ls_active = true;
         }
         if (response[0] == '1') {
-            motor_info->status |= RA_MINUS_LS;
-            motor_info->status &= ~RA_DIRECTION;
-	      ls_active = true;
+	    status.Bits.RA_MINUS_LS = 1;
+	    status.Bits.RA_DIRECTION = 0;
+	    ls_active = true;
         }
     } else {
         /* The response string is 01: followed by an eight character string of ones and zeroes */
         strcpy(response, &response[3]);
         if (response[0] == '0')
-            motor_info->status &= ~RA_DONE;
+            status.Bits.RA_DONE = 0;
         else {
-            motor_info->status |= RA_DONE;
+            status.Bits.RA_DONE = 1;
             if (drvPM304ReadbackDelay != 0.)
                 epicsThreadSleep(drvPM304ReadbackDelay);
         }
 
-        if (response[1] == '1')
-            motor_info->status |= RA_PROBLEM;
-        else
-            motor_info->status &= ~RA_PROBLEM;
+	status.Bits.RA_PROBLEM = (response[1] == '1') ? 1 : 0;
 
-        motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
         if (response[2] == '1') {
-            motor_info->status |= RA_PLUS_LS;
+	    status.Bits.RA_PLUS_LS = 1;
         }
         if (response[3] == '1') {
-            motor_info->status |= RA_MINUS_LS;
+	    status.Bits.RA_MINUS_LS = 1;
         }
     }
 
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_POSITION;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP	      = 0;
+    status.Bits.EA_POSITION   = 0;
+    status.Bits.EA_SLIP_STALL = 0;
+    status.Bits.EA_HOME	      = 0;
 
     /* Request the position of this motor */
     if (cntrl->use_encoder[signal]) {
@@ -293,10 +290,7 @@ STATIC int set_status(int card, int signal)
         motor_info->no_motion_count++;
     else
     {
-        if (motorData >= motor_info->position)
-            motor_info->status |= RA_DIRECTION;
-        else
-            motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
         motor_info->position = motorData;
         motor_info->encoder_position = motorData;
         motor_info->no_motion_count = 0;
@@ -307,14 +301,14 @@ STATIC int set_status(int card, int signal)
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
         motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
         strcpy(buff, nodeptr->postmsgptr);
@@ -323,6 +317,7 @@ STATIC int set_status(int card, int signal)
         nodeptr->postmsgptr = NULL;
     }
 
+    motor_info->status.All = status.All;
     Debug(2, "set_status, return value=%d\n", rtn_state);
     return (rtn_state);
 }
@@ -652,7 +647,7 @@ STATIC int motor_init()
                 struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 
                 motor_info->motor_motion = NULL;
-                motor_info->status = 0;
+                motor_info->status.All = 0;
                 motor_info->no_motion_count = 0;
                 motor_info->encoder_position = 0;
                 motor_info->position = 0;
diff --git a/motorApp/MotorSrc/motor.h b/motorApp/MotorSrc/motor.h
index 89b12780..8c5603a5 100644
--- a/motorApp/MotorSrc/motor.h
+++ b/motorApp/MotorSrc/motor.h
@@ -3,9 +3,9 @@ FILENAME...	motor.h
 USAGE...	Definitions and structures common to all levels of motorRecord
 		support (i.e., record, device and driver).
 
-Version:	$Revision: 1.9 $
+Version:	$Revision: 1.10 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-06-06 21:09:09 $
+Last Modified:	$Date: 2003-12-12 21:36:37 $
 */
 
 /*
@@ -36,7 +36,9 @@ Last Modified:	$Date: 2003-06-06 21:09:09 $
  * Modification Log:
  * -----------------
  *
- * .01  10-21-02 rls  Convert to R3.14.x and C++.
+ * .01 10-21-02 rls - Convert to R3.14.x and C++.
+ * .02 12-12-03 rls - Added MAX_SCAN_RATE.
+ *		    - Converted MSTA #define's to bit field.
  */
 
 #ifndef	INCmotorh
@@ -99,30 +101,65 @@ enum motor_cmnd {
 /* -------------------------------------------------- */
 
 /* driver and device support parameters */
-#define SCAN_RATE	6	/* 60=once a second */
-#define MAX_COUNT	50000 /*19000*/	/* timeout value */
+#define MAX_SCAN_RATE	60	/* Maximum polling rate in HZ. */
+#define SCAN_RATE	6	/* Default polling rate in HZ. */
+#define MAX_COUNT	50000	/*19000*/	/* timeout value */
 #define MAX_AXIS	10	/* max number of axis per board */
 
 #define NO		0
 #define YES		1
 
+// Define, from top to bottom, how bit fields are packed.
+// This works for SunPro, 
+#if #cpu(i386) && !#cpu(sparc)
+    #define LSB_First (TRUE)  // LSB is packed first.
+#else
+    #define MSB_First (TRUE)  // MSB is packed first.
+#endif
+
 /* -------------------------------------------------- */
 /* axis and encoder status for return to requester */
-#define RA_DIRECTION		0x01	/* (last) 0=Negative, 1=Positive */
-#define RA_DONE			0x02	/* a motion is complete */
-#define RA_PLUS_LS		0x04	/* plus limit switch has been hit */
-#define RA_HOME			0x08	/* The home signal is on */
-#define EA_SLIP			0x10	/* encoder slip enabled */
-#define EA_POSITION		0x20	/* position maintenence enabled */
-#define EA_SLIP_STALL		0x40	/* slip/stall detected */
-#define EA_HOME			0x80	/* encoder home signal on */
-#define EA_PRESENT		0x100	/* encoder is present */
-#define RA_PROBLEM		0x200	/* driver stopped polling */
-#define RA_MOVING		0x400	/* non-zero velocity present */
-#define GAIN_SUPPORT		0x800	/* Motor supports closed-loop position
-					    control. */
-#define CNTRL_COMM_ERR		0x1000	/* Controller communication error. */
-#define RA_MINUS_LS		0x2000	/* minus limit switch has been hit */
+
+typedef union
+{
+    unsigned long All;
+    struct
+    {
+#ifdef MSB_First
+	unsigned int na		    :18;/* N/A bits  */
+	unsigned int RA_MINUS_LS    :1;	/* minus limit switch has been hit */
+	unsigned int CNTRL_COMM_ERR :1;	/* Controller communication error. */
+	unsigned int GAIN_SUPPORT   :1;	/* Motor supports closed-loop position control. */
+	unsigned int RA_MOVING      :1;	/* non-zero velocity present */
+	unsigned int RA_PROBLEM     :1; /* driver stopped polling */
+	unsigned int EA_PRESENT     :1; /* encoder is present */
+	unsigned int EA_HOME        :1; /* encoder home signal on */
+	unsigned int EA_SLIP_STALL  :1; /* slip/stall detected */
+	unsigned int EA_POSITION    :1; /* position maintenence enabled */
+	unsigned int EA_SLIP        :1; /* encoder slip enabled */
+	unsigned int RA_HOME        :1; /* The home signal is on */
+	unsigned int RA_PLUS_LS     :1; /* plus limit switch has been hit */
+	unsigned int RA_DONE        :1;	/* a motion is complete */
+	unsigned int RA_DIRECTION   :1;	/* (last) 0=Negative, 1=Positive */
+#else
+	unsigned int RA_DIRECTION   :1;	/* (last) 0=Negative, 1=Positive */
+	unsigned int RA_DONE        :1;	/* a motion is complete */
+	unsigned int RA_PLUS_LS     :1; /* plus limit switch has been hit */
+	unsigned int RA_HOME        :1; /* The home signal is on */
+	unsigned int EA_SLIP        :1; /* encoder slip enabled */
+	unsigned int EA_POSITION    :1; /* position maintenence enabled */
+	unsigned int EA_SLIP_STALL  :1; /* slip/stall detected */
+	unsigned int EA_HOME        :1; /* encoder home signal on */
+	unsigned int EA_PRESENT     :1; /* encoder is present */
+	unsigned int RA_PROBLEM     :1; /* driver stopped polling */
+	unsigned int RA_MOVING      :1;	/* non-zero velocity present */
+	unsigned int GAIN_SUPPORT   :1;	/* Motor supports closed-loop position control. */
+	unsigned int CNTRL_COMM_ERR :1;	/* Controller communication error. */
+	unsigned int RA_MINUS_LS    :1;	/* minus limit switch has been hit */
+	unsigned int na		    :18;/* N/A bits  */
+#endif
+    } Bits;                                
+} msta_field;
 
 /*
    The RA_PROBLEM status bit indicates that the driver has stopped the polling
@@ -143,13 +180,6 @@ struct motor_dset
     RTN_STATUS (*end_trans) (struct motorRecord *);
 };
 
-// Define, from top to bottom, how bit fields are packed.
-// This works for SunPro, 
-#if #cpu(i386) && !#cpu(sparc)
-    #define LSB_First (TRUE)  // LSB is packed first.
-#else
-    #define MSB_First (TRUE)  // MSB is packed first.
-#endif
 
 /* All db_post_events() calls set both VALUE and LOG bits. */
 #define DBE_VAL_LOG (unsigned int) (DBE_VALUE | DBE_LOG)
diff --git a/motorApp/MotorSrc/motordevCom.cc b/motorApp/MotorSrc/motordevCom.cc
index 5dedd656..920be92c 100644
--- a/motorApp/MotorSrc/motordevCom.cc
+++ b/motorApp/MotorSrc/motordevCom.cc
@@ -3,9 +3,9 @@ FILENAME: motordevCom.c
 USAGE... This file contains device functions that are common to all motor
     record device support modules.
 
-Version:	$Revision: 1.4 $
+Version:	$Revision: 1.5 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-06-16 15:08:24 $
+Last Modified:	$Date: 2003-12-12 21:38:42 $
 */
 
 /*
@@ -181,6 +181,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
     struct mess_node *motor_call;
     double ep_mp[2];		/* encoder pulses, motor pulses */
     int rtnStat;
+    msta_field msta;
 
     /* allocate space for private field - an motor_trans structure */
     mr->dpvt = (struct motor_trans *) malloc(sizeof(struct motor_trans));
@@ -236,7 +237,9 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
     if (rtnStat)
     {
 	/* Initialize readback fields for simulation */
-	mr->msta = RA_PROBLEM;
+	msta.All = 0;
+	msta.Bits.RA_PROBLEM = 1;
+	mr->msta = msta.All;
 	mr->rmp = 0;		/* raw motor pulse count */
 	mr->rep = 0;		/* raw encoder pulse count */
 	return(rtnStat);
@@ -244,7 +247,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
 	
     /* query motor for all info to fill into record */
     (tabptr->get_axis_info) (card, signal, &axis_query, tabptr);
-    mr->msta = axis_query.status;	/* status info */
+    msta.All = mr->msta = axis_query.status.All;	/* status info */
     brdptr->axis_stat[signal].in_use = true;
 
 /*jps: setting the encoder ratio was moved from init_record() remove  callbacks during iocInit */
@@ -254,7 +257,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
      * per engineering unit (EGU).  Send an array containing this information
      * to device support.
      */
-    initEncoder = ((mr->msta & EA_PRESENT) && mr->ueip) ? true : false;
+    initEncoder = (msta.Bits.EA_PRESENT && mr->ueip) ? true : false;
     if (initEncoder == true)
     {
 	if (fabs(mr->mres) < 1.e-9)
@@ -333,7 +336,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
 
     mr->rmp = axis_query.position;	/* raw motor pulse count */
     mr->rep = axis_query.encoder_position;	/* raw encoder pulse count */
-    mr->msta = axis_query.status;	/* status info */
+    mr->msta = axis_query.status.All;	/* status info */
     return(OK);
 }
 
@@ -363,7 +366,7 @@ CALLBACK_VALUE motor_update_values(struct motorRecord * mr)
 	mr->rmp = ptrans->motor_pos;
 	mr->rep = ptrans->encoder_pos;
 	mr->rvel = ptrans->vel;
-	mr->msta = ptrans->status;
+	mr->msta = ptrans->status.All;
 	ptrans->callback_changed = NO;
 	rc = CALLBACK_DATA;
     }
@@ -425,12 +428,16 @@ RTN_STATUS motor_end_trans_com(struct motorRecord *mr, struct driver_table *tabp
     motor_call = &(trans->motor_call);
     if ((*trans->tabptr->card_array)[motor_call->card] == NULL)
     {
+	msta_field msta;
+
 	/* If the controller does not exits, then set "done moving"
 	 * and communication error TRUE.
 	 */
 	mr->dmov = TRUE;
 	db_post_events(mr, &mr->dmov, DBE_VAL_LOG);
-	mr->msta |= CNTRL_COMM_ERR;
+	msta.All = mr->msta;
+	msta.Bits.CNTRL_COMM_ERR = 1;
+	mr->msta = msta.All;
 	return(rc = ERROR);
     }
 
diff --git a/motorApp/MotorSrc/motordevCom.h b/motorApp/MotorSrc/motordevCom.h
index 154977e8..3d1e2373 100644
--- a/motorApp/MotorSrc/motordevCom.h
+++ b/motorApp/MotorSrc/motordevCom.h
@@ -3,9 +3,9 @@ FILENAME...	motordevCom.h
 USAGE...	This file contains definitions and structures that
 		are common to all motor record device support modules.
 
-Version:	$Revision: 1.4 $
+Version:	$Revision: 1.5 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2002-10-31 20:41:29 $
+Last Modified:	$Date: 2003-12-12 21:36:38 $
 */
 
 /*
@@ -26,6 +26,7 @@ Last Modified:	$Date: 2002-10-31 20:41:29 $
  *
  * Modification Log:
  * -----------------
+ * .01 12-12-03 rls - Converted MSTA #define's to bit field.
  */
 
 
@@ -64,7 +65,7 @@ struct motor_trans
     int motor_pos;
     int encoder_pos;
     int vel;
-    unsigned long status;
+    msta_field status;
     epicsEvent *initSem;
     struct driver_table *tabptr;
     bool dpm;		/* For OMS VME58 only, drive power monitoring. */
diff --git a/motorApp/MotorSrc/motordrvCom.cc b/motorApp/MotorSrc/motordrvCom.cc
index f52d0275..ca5515eb 100644
--- a/motorApp/MotorSrc/motordrvCom.cc
+++ b/motorApp/MotorSrc/motordrvCom.cc
@@ -3,9 +3,9 @@ FILENAME...	motordrvCom.cc
 USAGE... 	This file contains driver functions that are common
 		to all motor record driver modules.
 
-Version:	$Revision: 1.6 $
+Version:	$Revision: 1.7 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-06 21:21:57 $
+Last Modified:	$Date: 2003-12-12 21:38:43 $
 */
 
 /*
@@ -191,24 +191,24 @@ static int query_axis(int card, struct driver_table *tabptr, epicsTime tick)
 	    mess_ret->status = motor_motion->status;
 	    mess_ret->type = motor_motion->type;
 
-	    if (motor_motion->status & RA_DIRECTION)
+	    if (motor_motion->status.Bits.RA_DIRECTION)
 	    {
-		if (motor_motion->status & RA_PLUS_LS)
+		if (motor_motion->status.Bits.RA_PLUS_LS)
 		    ls_active = true;
 		else
 		    ls_active = false;
 	    }
 	    else
 	    {
-		if (motor_motion->status & RA_MINUS_LS)
+		if (motor_motion->status.Bits.RA_MINUS_LS)
 		    ls_active = true;
 		else
 		    ls_active = false;
 	    }
 	    
 	    if (ls_active == true ||
-		motor_motion->status & RA_DONE ||
-		motor_motion->status & RA_PROBLEM)
+		motor_motion->status.Bits.RA_DONE ||
+		motor_motion->status.Bits.RA_PROBLEM)
 	    {
 		(*tabptr->query_done) (card, index, motor_motion);
 		brdptr->motor_in_motion--;
@@ -330,9 +330,9 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
 * and this we can tell by looking for a struct motor_motion.
 ==============================================================================*/
 		if (motor_motion)
-		    node->status &= ~RA_DONE;
+		    node->status.Bits.RA_DONE = 0;
 		else
-		    node->status |= RA_DONE;
+		    node->status.Bits.RA_DONE = 1;
 
 		callbackRequest((CALLBACK *) node);
 		break;
@@ -360,7 +360,8 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
 	    node->position = 0;
 	    node->encoder_position = 0;
 	    node->velocity = 0;
-	    node->status = RA_PROBLEM;
+	    node->status.All = 0;
+	    node->status.Bits.RA_PROBLEM = 1;
 	    callbackRequest((CALLBACK *) node);
 	}
     }
@@ -419,7 +420,7 @@ RTN_STATUS motor_send(struct mess_node *u_msg, struct driver_table *tabptr)
     new_message->signal = u_msg->signal;
     new_message->card = u_msg->card;
     new_message->mrecord = u_msg->mrecord;
-    new_message->status = 0;
+    new_message->status.All = 0;
     strcpy(new_message->message, u_msg->message);
     new_message->postmsgptr = u_msg->postmsgptr;
     new_message->termstring = u_msg->termstring;
@@ -556,7 +557,8 @@ int motor_axis_info(int card, int signal, MOTOR_AXIS_QUERY * aq, struct driver_t
     else
     {
 	aq->position = aq->encoder_position = 0;
-	aq->status = RA_PROBLEM;
+	aq->status.All = 0;
+	aq->status.Bits.RA_PROBLEM = 1;
     }
 
     return (0);
diff --git a/motorApp/MotorSrc/motordrvCom.h b/motorApp/MotorSrc/motordrvCom.h
index 47156551..b1e271a1 100644
--- a/motorApp/MotorSrc/motordrvCom.h
+++ b/motorApp/MotorSrc/motordrvCom.h
@@ -4,9 +4,9 @@ FILENAME...	motordrvCom.h
 USAGE...	This file contains definitions and structures that
 		are common to all motor record driver support modules.
 
-Version:	$Revision: 1.12 $
+Version:	$Revision: 1.13 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-10-28 16:31:29 $
+Last Modified:	$Date: 2003-12-12 21:36:40 $
 */
 
 /*
@@ -38,6 +38,7 @@ Last Modified:	$Date: 2003-10-28 16:31:29 $
  * -----------------
  * .01 10-02-01 rls added RETRY to CommStatus enumeration.
  * .02 10-24-03 rls moved irqdatastr to OmsSrc.
+ * .03 12-12-03 rls Converted MSTA #define's to bit field.
  */
 
 
@@ -51,6 +52,8 @@ Last Modified:	$Date: 2003-10-28 16:31:29 $
 #include <epicsRingPointer.h>
 #include <epicsMessageQueue.h>
 
+#include "motor.h"
+
 #define MAX_IDENT_LEN 100
 
 /* Controller communication port type, followed by status. */
@@ -107,7 +110,7 @@ struct mess_node
     long position;
     long encoder_position;
     long velocity;
-    unsigned long status;
+    msta_field status;
     struct dbCommon *mrecord;	/* "Hidden" pointer to motor record. */
     struct mess_node *next;
     char *postmsgptr;
@@ -126,7 +129,7 @@ typedef struct mess_axis_query
 {
     long position;
     long encoder_position;
-    unsigned long status;
+    msta_field status;
 } MOTOR_AXIS_QUERY;
 
 struct axis_status
@@ -155,7 +158,7 @@ struct mess_info
     int no_motion_count;
     epicsTime status_delay;     /* Insure 10ms delay between motion/velocity
 				 * commands and status query. */
-    unsigned long status;	/* one pos for each axis */
+    msta_field status;		/* one pos for each axis */
     int pid_present;		/* PID control indicator for VME58 (YES/NO). */
     double high_limit;		/* MM4000 only; Controller's high travel limit. */
     double low_limit;		/* MM4000 only; Controller's low travel limit. */
@@ -204,7 +207,7 @@ struct driver_table
 
 struct thread_args
 {
-    int motor_scan_rate;
+    int motor_scan_rate;	/* Poll rate in HZ. */
     struct driver_table *table;
 };
 
diff --git a/motorApp/NewportSrc/drvESP300.cc b/motorApp/NewportSrc/drvESP300.cc
index 93c74fb5..a564ffdc 100644
--- a/motorApp/NewportSrc/drvESP300.cc
+++ b/motorApp/NewportSrc/drvESP300.cc
@@ -2,9 +2,9 @@
 FILENAME...	drvESP300.cc
 USAGE...	Motor record driver level support for Newport ESP300.
 
-Version:	$Revision: 1.5 $
+Version:	$Revision: 1.6 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:21:50 $
+Last Modified:	$Date: 2003-12-12 21:40:23 $
 */
 
 /*
@@ -215,10 +215,12 @@ static int set_status(int card, int signal)
     long mstatus;
     double motorData;
     bool power, done, plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
+    status.All = motor_info->status.All;
 
     sprintf(outbuff, "%.2dMD", signal + 1);
     send_mess(card, outbuff, (char) NULL);
@@ -226,29 +228,28 @@ static int set_status(int card, int signal)
     if (charcnt == 3)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
     
     done = atoi(inbuff) ? true : false;
-    if (done == true)
-	motor_info->status |= RA_DONE;
-    else
-	motor_info->status &= ~RA_DONE;
+    status.Bits.RA_DONE = (done == true) ? 1 : 0;
 
     /* Get motor position. */
     sprintf(outbuff, READ_POSITION, signal + 1);
@@ -264,16 +265,12 @@ static int set_status(int card, int signal)
 	epicsInt32 newposition;
 
 	newposition = NINT(motorData);
-	if (newposition >= motor_info->position)
-	    motor_info->status |= RA_DIRECTION;
-	else
-	    motor_info->status &= ~RA_DIRECTION;
+	status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
 	motor_info->position = newposition;
 	motor_info->no_motion_count = 0;
     }
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
-
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
     /* Get travel limit switch status. */
     sprintf(outbuff, "%.2dPH", signal + 1);
@@ -283,25 +280,26 @@ static int set_status(int card, int signal)
     if (cptr == NULL)
     {
 	Debug(2, "set_status(): PH error = %s\n", inbuff);
-	return(1);
+	rtn_state = 1;
+	goto exit;
     }
     mstatus = strtol(inbuff, &cptr, 16);
 
     /* Set Travel limit switch status bits. */
     if (((mstatus >> signal) & 0x01) == false)
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
     else
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
 
     if (((mstatus >> (signal + 8)) & 0x01) == false)
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
     else
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
@@ -311,10 +309,7 @@ static int set_status(int card, int signal)
     tok_save = strchr(inbuff, 'H');
     mstatus = strtol(cptr, &tok_save, 16);
 
-    if (((mstatus >> signal) & 0x01) == false)
-	motor_info->status &= ~RA_HOME;
-    else
-	motor_info->status |= RA_HOME;
+    status.Bits.RA_HOME = ((mstatus >> signal) & 0x01) ? 1 : 0;
 
     /* Get motor power on/off status. */
     sprintf(outbuff, "%.2dMO?", signal + 1);
@@ -322,30 +317,27 @@ static int set_status(int card, int signal)
     charcnt = recv_mess(card, inbuff, 1);
     power = atoi(inbuff) ? true : false;
 
-    if (power == true)
-	motor_info->status |= EA_POSITION;
-    else
-	motor_info->status &= ~EA_POSITION;
+    status.Bits.EA_POSITION = (power == true) ? 1 : 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.EA_SLIP		= 0;
+    status.Bits.EA_SLIP_STALL	= 0;
+    status.Bits.EA_HOME		= 0;
+    status.Bits.RA_PROBLEM	= 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		 status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(outbuff, nodeptr->postmsgptr);
@@ -353,6 +345,8 @@ static int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return (rtn_state);
 }
 
@@ -677,7 +671,7 @@ static int motor_init()
 		recv_mess(card_index, buff, 1);
 		cntrl->drive_resolution[motor_index] = atof(&buff[0]);
 		
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
@@ -685,9 +679,9 @@ static int motor_init()
                 
 		if (motor_info->encoder_present == YES)
 		{
-		    motor_info->status |= EA_PRESENT;
+		    motor_info->status.Bits.EA_PRESENT = 1;
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
 		set_status(card_index, motor_index);  /* Read status of each motor */
diff --git a/motorApp/NewportSrc/drvMM3000.cc b/motorApp/NewportSrc/drvMM3000.cc
index e9e51a97..bdaea9bf 100644
--- a/motorApp/NewportSrc/drvMM3000.cc
+++ b/motorApp/NewportSrc/drvMM3000.cc
@@ -2,9 +2,9 @@
 FILENAME...	drvMM3000.cc
 USAGE...	Motor record driver level support for Newport MM3000.
 
-Version:	$Revision: 1.5 $
+Version:	$Revision: 1.6 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:22:11 $
+Last Modified:	$Date: 2003-12-12 21:40:24 $
 */
 
 /*
@@ -243,9 +243,11 @@ STATIC int set_status(int card, int signal)
     int rtn_state, charcnt;
     double motorData;
     bool plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
+    status.All = motor_info->status.All;
 
     sprintf(outbuff, "%dMS", signal + 1);
     send_mess(card, outbuff, (char) NULL);
@@ -253,21 +255,23 @@ STATIC int set_status(int card, int signal)
     if (charcnt > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
@@ -276,51 +280,39 @@ STATIC int set_status(int card, int signal)
 
     nodeptr = motor_info->motor_motion;
 
-    if (mstat.Bits.direction == false)
-	motor_info->status &= ~RA_DIRECTION;
-    else
-	motor_info->status |= RA_DIRECTION;
+    status.Bits.RA_DIRECTION = (mstat.Bits.direction == false) ? 0 : 1;
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
-    if (mstat.Bits.inmotion == false)
-	motor_info->status |= RA_DONE;
-    else
-	motor_info->status &= ~RA_DONE;
+    status.Bits.RA_DONE = (mstat.Bits.inmotion == false) ? 1 : 0;
 
     /* Set Travel limit switch status bits. */
     if (mstat.Bits.plustTL == false)
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
     else
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
 
     if (mstat.Bits.minusTL == false)
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
     else
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
 
-    if (mstat.Bits.homels == false)
-	motor_info->status &= ~RA_HOME;
-    else
-	motor_info->status |= RA_HOME;
+    status.Bits.RA_HOME = (mstat.Bits.homels == false) ? 0 : 1;
 
-    if (mstat.Bits.NOT_power == false)
-	motor_info->status |= EA_POSITION;
-    else
-	motor_info->status &= ~EA_POSITION;
+    status.Bits.EA_POSITION = (mstat.Bits.NOT_power == false) ? 1 : 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP 	= 0;
+    status.Bits.EA_SLIP_STALL	= 0;
+    status.Bits.EA_HOME		= 0;
 
     sprintf(outbuff, "%dTP", signal + 1);
     send_mess(card, outbuff, (char) NULL);
@@ -328,21 +320,23 @@ STATIC int set_status(int card, int signal)
     if (charcnt > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
@@ -363,21 +357,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->no_motion_count = 0;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM = 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		 status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(outbuff, nodeptr->postmsgptr);
@@ -385,6 +379,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -731,7 +727,7 @@ STATIC int motor_init()
 	    {
 		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
@@ -752,9 +748,9 @@ STATIC int motor_init()
                 
 		if (motor_info->encoder_present == YES)
 		{
-		    motor_info->status |= EA_PRESENT;
+		    motor_info->status.Bits.EA_PRESENT = 1;
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
 		set_status(card_index, motor_index);  /* Read status of each motor */
diff --git a/motorApp/NewportSrc/drvMM4000.cc b/motorApp/NewportSrc/drvMM4000.cc
index 8f312159..79f8e4cc 100644
--- a/motorApp/NewportSrc/drvMM4000.cc
+++ b/motorApp/NewportSrc/drvMM4000.cc
@@ -2,9 +2,9 @@
 FILENAME...	drvMM4000.cc
 USAGE...	Motor record driver level support for Newport MM4000.
 
-Version:	$Revision: 1.4 $
+Version:	$Revision: 1.5 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:24:21 $
+Last Modified:	$Date: 2003-12-12 21:40:26 $
 */
 
 /*
@@ -312,22 +312,29 @@ STATIC int set_status(int card, int signal)
     int rtn_state;
     double motorData;
     bool plusdir, ls_active = false;
+    msta_field status;
 
     cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
+    status.All = motor_info->status.All;
+
     if (cntrl->status != NORMAL)
     {
 	if (cntrl->status == COMM_ERR)
 	{
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
 	else
-	    return(0);
+	{
+	    rtn_state = 0;
+	    goto exit;
+	}
     }
     else
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     
     nodeptr = motor_info->motor_motion;
 
@@ -340,16 +347,13 @@ STATIC int set_status(int card, int signal)
     mstat.All = cntrl->status_string[pos];
     Debug(5, "set_status(): status byte = %x\n", mstat.All);
 
-    if (mstat.Bits.direction == false)
-	motor_info->status &= ~RA_DIRECTION;
-    else
-	motor_info->status |= RA_DIRECTION;
+    status.Bits.RA_DIRECTION = (mstat.Bits.direction == false) ? 0 : 1;
 
-    plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
+    plusdir = (status.Bits.RA_DIRECTION) ? true : false;
 
     if (mstat.Bits.inmotion == false)
     {
-	motor_info->status |= RA_DONE;
+	status.Bits.RA_DONE = 1;
 /* TEMPORARY FIX, Mark Rivers, 2/1/99. The MM4000 has reported that the
  * motor is done moving, which means that the "jerk time" is done.  However,
  * the axis can still be settling.  For now we put in a delay and poll the
@@ -369,47 +373,40 @@ STATIC int set_status(int card, int signal)
 	    pos = signal*5 + 3;	 /* Offset in status string */
 	    mstat.All = cntrl->status_string[pos];
 	    if (mstat.Bits.inmotion == true)
-		motor_info->status &= ~RA_DONE;
+		status.Bits.RA_DONE = 0;
 	    send_mess(card, READ_POSITION, NULL);
 	    recv_mess(card, cntrl->position_string, 1);
 	}
     }
     else
-	motor_info->status &= ~RA_DONE;
+	status.Bits.RA_DONE = 0;
 
     /* Set Travel limit switch status bits. */
     if (mstat.Bits.plustTL == false)
-	motor_info->status &= ~RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
     else
     {
-	motor_info->status |= RA_PLUS_LS;
+	status.Bits.RA_PLUS_LS = 1;
 	if (plusdir == true)
 	    ls_active = true;
     }
 
     if (mstat.Bits.minusTL == false)
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 0;
     else
     {
-	motor_info->status |= RA_MINUS_LS;
+	status.Bits.RA_MINUS_LS = 1;
 	if (plusdir == false)
 	    ls_active = true;
     }
 
-    if (mstat.Bits.homels == false)
-	motor_info->status &= ~RA_HOME;
-    else
-	motor_info->status |= RA_HOME;
-
-    if (mstat.Bits.NOT_power == false)
-	motor_info->status |= EA_POSITION;
-    else
-	motor_info->status &= ~EA_POSITION;
+    status.Bits.RA_HOME =     (mstat.Bits.homels    == false) ? 0 : 1;
+    status.Bits.EA_POSITION = (mstat.Bits.NOT_power == false) ? 1 : 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_SLIP 	= 0;
+    status.Bits.EA_SLIP_STALL	= 0;
+    status.Bits.EA_HOME		= 0;
 
     /* 
      * Parse motor position
@@ -438,21 +435,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->no_motion_count = 0;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM = 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		 status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(buff, nodeptr->postmsgptr);
@@ -460,6 +457,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -763,7 +762,7 @@ STATIC int motor_init()
 		struct mess_info *motor_info = &brdptr->motor_info[motor_index];
 		int loop_state;
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;
@@ -776,9 +775,9 @@ STATIC int motor_init()
 		if (loop_state != 0)
 		{
                     motor_info->encoder_present = YES;
-		    motor_info->status |= EA_PRESENT;
+		    motor_info->status.Bits.EA_PRESENT = 1;
 		    motor_info->pid_present = YES;
-		    motor_info->status |= GAIN_SUPPORT;
+		    motor_info->status.Bits.GAIN_SUPPORT = 1;
 		}
 
                 /* Determine drive resolution. */
diff --git a/motorApp/NewportSrc/drvPM500.cc b/motorApp/NewportSrc/drvPM500.cc
index 2b4529fd..d2018718 100644
--- a/motorApp/NewportSrc/drvPM500.cc
+++ b/motorApp/NewportSrc/drvPM500.cc
@@ -2,9 +2,9 @@
 FILENAME...	drvPM500.cc
 USAGE...	Motor record driver level support for Newport PM500.
 
-Version:	$Revision: 1.4 $
+Version:	$Revision: 1.5 $
 Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2003-11-07 22:20:55 $
+Last Modified:	$Date: 2003-12-12 21:40:27 $
 */
 
 /* Device Driver Support routines for PM500 motor controller */
@@ -230,37 +230,41 @@ STATIC int set_status(int card, int signal)
     /* Message parsing variables */
     char axis_name, status_char, dir_char, buff[BUFF_SIZE],
 	response[BUFF_SIZE];
-    int status, rtn_state = 0;
+    int rtnval, rtn_state = 0;
     double motorData;
     bool ls_active;
+    msta_field status;
 
     cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
     motor_info = &(motor_state[card]->motor_info[signal]);
     nodeptr = motor_info->motor_motion;
     axis_name = PM500_axis_names[signal];
+    status.All = motor_info->status.All;
 
     /* Request the status and position of this motor */
     sprintf(buff, "%cR", axis_name);
     send_mess(card, buff, (char) NULL);
-    status = recv_mess(card, response, 1);
-    if (status > 0)
+    rtnval = recv_mess(card, response, 1);
+    if (rtnval > 0)
     {
 	cntrl->status = NORMAL;
-	motor_info->status &= ~CNTRL_COMM_ERR;
+	status.Bits.CNTRL_COMM_ERR = 0;
     }
     else
     {
 	if (cntrl->status == NORMAL)
 	{
 	    cntrl->status = RETRY;
-	    return(0);
+	    rtn_state = 0;
+	    goto exit;
 	}
 	else
 	{
 	    cntrl->status = COMM_ERR;
-	    motor_info->status |= CNTRL_COMM_ERR;
-	    motor_info->status |= RA_PROBLEM;
-	    return(1);
+	    status.Bits.CNTRL_COMM_ERR = 1;
+	    status.Bits.RA_PROBLEM     = 1;
+	    rtn_state = 1;
+	    goto exit;
 	}
     }
 
@@ -268,43 +272,32 @@ STATIC int set_status(int card, int signal)
     dir_char = response[2];
     motorData = atof(&response[2]) / cntrl->drive_resolution[signal];
 
-    if (status_char == 'B')
-	motor_info->status &= ~RA_DONE;
-    else
-	motor_info->status |= RA_DONE;
-
-    if (status_char == 'E') 
-        motor_info->status |= RA_PROBLEM;
-    else
-        motor_info->status &= ~RA_PROBLEM;
-
-    if (dir_char == '+')
-	motor_info->status |= RA_DIRECTION;
-    else
-	motor_info->status &= ~RA_DIRECTION;
+    status.Bits.RA_DONE	     = (status_char == 'B') ? 0 : 1;
+    status.Bits.RA_PROBLEM   = (status_char == 'E') ? 1 : 0;
+    status.Bits.RA_DIRECTION = (dir_char == '+')    ? 1 : 0;
     
     if (status_char == 'L')
     {
 	ls_active = true;
 	if (dir_char == '+')
-	    motor_info->status |= RA_PLUS_LS;
+	    status.Bits.RA_PLUS_LS = 1;
 	else
-	    motor_info->status |= RA_MINUS_LS;
+	    status.Bits.RA_MINUS_LS = 1;
     }
     else
     {
 	ls_active = false;
-	motor_info->status &= ~RA_PLUS_LS;
-	motor_info->status &= ~RA_MINUS_LS;
+	status.Bits.RA_PLUS_LS = 0;
+	status.Bits.RA_MINUS_LS = 0;
     }
 
-    motor_info->status &= ~RA_HOME;
+    status.Bits.RA_HOME = 0;
 
     /* encoder status */
-    motor_info->status &= ~EA_POSITION;
-    motor_info->status &= ~EA_SLIP;
-    motor_info->status &= ~EA_SLIP_STALL;
-    motor_info->status &= ~EA_HOME;
+    status.Bits.EA_POSITION	= 0;
+    status.Bits.EA_SLIP		= 0;
+    status.Bits.EA_SLIP_STALL	= 0;
+    status.Bits.EA_HOME		= 0;
 
     /* 
      * Parse motor position
@@ -312,7 +305,6 @@ STATIC int set_status(int card, int signal)
      * Skip to substring for this motor, convert to double
      */
 
-
     if (motorData == motor_info->position)
 	motor_info->no_motion_count++;
     else
@@ -326,21 +318,21 @@ STATIC int set_status(int card, int signal)
 	motor_info->no_motion_count = 0;
     }
 
-    motor_info->status &= ~RA_PROBLEM;
+    status.Bits.RA_PROBLEM = 0;
 
     /* Parse motor velocity? */
     /* NEEDS WORK */
 
     motor_info->velocity = 0;
 
-    if (!(motor_info->status & RA_DIRECTION))
+    if (!status.Bits.RA_DIRECTION)
 	motor_info->velocity *= -1;
 
     rtn_state = (!motor_info->no_motion_count || ls_active == true ||
-		 (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
+		 status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
 
     /* Test for post-move string. */
-    if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
+    if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
 	nodeptr->postmsgptr != 0)
     {
 	strcpy(buff, nodeptr->postmsgptr);
@@ -349,6 +341,8 @@ STATIC int set_status(int card, int signal)
 	nodeptr->postmsgptr = NULL;
     }
 
+exit:
+    motor_info->status.All = status.All;
     return(rtn_state);
 }
 
@@ -702,11 +696,11 @@ STATIC int motor_init()
 
 		/* PM500 only supports DC motors. */
 		motor_info->encoder_present = YES;
-		motor_info->status |= EA_PRESENT;
+		motor_info->status.Bits.EA_PRESENT = 1;
 		motor_info->pid_present = YES;
-		motor_info->status |= GAIN_SUPPORT;
+		motor_info->status.Bits.GAIN_SUPPORT = 1;
 
-		motor_info->status = 0;
+		motor_info->status.All = 0;
 		motor_info->no_motion_count = 0;
 		motor_info->encoder_position = 0;
 		motor_info->position = 0;